User manual · Apollo is a white cylinder-shaped robot base and all its edges are soft and smooth, which gives Apollo a nice and friendly outlook and feel. With lower barycenter,

1 / 25 Copyright (c) 2016-2017 Shanghai Slamtec Co., Ltd.

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Shanghai Slamtec.Co.,Ltd

APOLLO General Purpose Robot Platform Standard Version

User manual

Model: A2M21

2018-0

1-1

8 rev.1.0


CONTENTS ................................................................................................................................................... 2

OVERVIEW ................................................................................................................................................... 3

INTRODUCTION................................................................................................................................................... 3

BASIC FUNCTION ................................................................................................................................................ 3

OPTIONAL FUNCTION ......................................................................................................................................... 4

INTERIOR MODULE BLOCK DIAGRAM ................................................................................................................ 4

PARTS ............................................................................................................................................................ 5

APOLLO .............................................................................................................................................................. 5

SENSORS ............................................................................................................................................................. 5

CHARGER ............................................................................................................................................................ 6

DEMO MODULE（OPTIONAL） ......................................................................................................................... 8

EXTENDED PLATFORM ............................................................................................................................. 9

INTRODUCTION................................................................................................................................................... 9

PORT DEFINITION ............................................................................................................................................... 9

DEPLOYMENT AND USAGE ................................................................................................................... 12

APOLLO DEPLOYMENT ..................................................................................................................................... 12

CONNECT TO COMPUTER ................................................................................................................................. 17

DEBUG TOOLS .................................................................................................................................................. 17

CHARGING AND BATTERY ................................................................................................................................. 18

ATTENTION ............................................................................................................................................... 21

TROUBLESHOOTING ............................................................................................................................... 22

MECHANICAL DIMENSIONS ................................................................................................................. 24

APPENDIX .................................................................................................................................................. 25

IMAGE AND TABLE INDEX .................................................................................................................................. 25

Contents


Introduction

Apollo is a medium-sized general purpose robot development platform

developed by SLAMTEC to meet the requirement of medium-size robot

application like reception robot, shop guiding robot and etc. Its build-in

SLAMWARE autonomous localization and navigation module adds the function of

path finding and navigation to it. And different applications can be integrated with

Apollo to make it work in varies business places. Apollo is equiped with ultrasonic

sensors, cliff sensors, depth cameras and etc., which help Apollo walk freely and

respond well in complicated business environments. In addition, its optional

version manages to self-ride an elevator and build map for multi-story buildings,

which fits in more application scenarios.

Apart from the above core features, we have designed Ethernet port, power supply

port and several control ports on the extended platform of Apollo to promote its

related extension and development. Apollo can communicate with external world

via wired or wireless network and its own battery provides power supply for itself

and the extended module connected to it. And our users can control the whole

Apollo and its upper extended module via varies control ports and pins.

Apollo A2M21 standard version has a complete base design, therefore, there is no

need for users to make additional efforts in its external design. It works as a

complete robot base waiting for upper system development right out of the box.

Basic Function

Autonomous Mapping for Localization and Navigation

The Apollo platform has the feature of autonomous map building, localization and

navigation. There is no need for human assisstance during its working process. It

can find the proper path to a specified place by itself and move there freely. And

it also supports multi-line patrol mode like a security guard.

Autonomous Recharging

We provide open source interface for users and developpers to use it for their

own upper application on Apollo, which can realize the recharging feature of

Apollo, namely, the ability to go back to the charge station to charge itself when

it has a very low battery.

Third Party Application Development

The Apollo has a totally free platform both in software and hardware and we offer

technical support for external extended hardware. Our users can focus on the

developing of business logic appplication via SLAMWARE SDK.

Overview


Optional Function

Self-riding elevator

With built-in solution for multi-story building, Apollo can work with corresponded

floors seamlessly. After integration, Apollo can move into an elevator

automatically, detect its current floor in rea time and move out to specified floor’s

destination.

Autonomous Mapping for Multi-story Building

Apollo is supported to bulid map for multi-story buildings. When getting to each

floor, Apollo marks the current floor and bulid map for that floor. The multi-story

building map is useful for preparing floor plans, shop navigation, evacuation plans

and etc. End users can check those maps at any time.

Interior Module Block Diagram

The followig figure describes the communication between Apollo and external

system, the connection of power supply and emergency stop.

Figure 1-1 Connection between Apollo and External System

User

External

system

Apollo

Host system

Wired network/WIFI

Emergency stop

User power supply port

System/user/power control port

WIFI

Charging port


Apollo

Appearance and Structure

Apollo is a white cylinder-shaped robot base and all its edges are soft and smooth,

which gives Apollo a nice and friendly outlook and feel. With lower barycenter,

Apollo moves more safely and stably. Please refer to mechanical dimensions for

more design details.

Sensors

Figure 2-1 Apollo Sensor Configuration

Lidar Sensor

Apollo is equipped with a high performance Lidar with scan range more than 15

meters. Based on the map data provided by the Lidar, Apollo can build map with

resolution up to 5cm and realize autonomous path finding and navigation.

Ultrasonic Sensor

Apollo has 3 ultrasonic sensors distributed in the front edge of its base. The

coverage area of those sensors is 40 cm in length right ahead of Apollo. Those

sensors are mainly used for detecting highly transparent obstacles to improve the

performance of Apollo in mapping and obstacle avoidance.

Depth Camera

Parts


The depth camera on the top of the Apollo, with a visual angle 45°x35° and a

visual range 1.3m, makes Apollo can detect the obstacles above the Lidar layer

and send command out to avoid them.

Cliff Sensor

There are 3 cliff sensors in the front bottom edge of Apollo. The minimum

detected depth is 5cm. When Apollo walks to an edge of a step, the cliff sensor

can detect the step and send signals out to request the change of the robot

direction. Therefore, the robot can avoide falling down from a higher place and

move freely.

All the above sensors ensure the high perpormance of Apollo path planning,

navigation and obstacle avoidance when it walking in varies complicated

environments.

Charger

Figure 2-2 Apollo Charger

Apollo has a charger that supports autonomous recharging. After Apollo sending

out a recharging command, Apollo will go back to the charger and charge itself

automatically.


Charger indicators description:

Indicator Preset

Condition Status Description

Power

Indicator

(charger)

Charger

power on Red light

The charger is powered on

normally.

Charger

power off

Light goes

out The charger is power off.

Exceptions Light flicks

or goes out

There are problems in the

charger.

Charging

indicator

(Power)

Not charging Light goes

out

The charger is not charging

Apollo.

Fully charged Green light Apollo is fully charged.

Charging Red light Apollo is charging normally.

Exceptions Light flicks

or goes out

There are problems in the

charger.

Figure 2-3 Apollo Charger Indicators Description

Charger ports description:

Figure 2-4 Apollo Charge Station Interface Description

Name Parameter Description

Charging port 220-240VAC Provides power supply for the charger.

Charging

electrode 25.2V 10A Provides contact charging for Apollo.

Emergency

charging port 25.2V 10A

Provides charging for Apollo in

emergency, such as the charging

electrode not working.

Firmware

upgrade port USB

Provides firmware upgrading for Apollo

charger.


Demo Module（Optional）

Figure 2-5 Apollo Demo Module

The demo module can monitor the control signal of upper system to simply but

efffectively control the power supply and moving of Apollo.

The recommended switch to be designed and their usage are as below:

Figure 2-6 Apollo Demo Module Switch Description

Switch Type Description Note

Emergency

stop

switch

Used for controling Apollo in

emergencies. After pressing this switch,

Apollo will stop moving immediately.

This switch is a must

to design, or Apollo

will refuse to work.

Release

switch

Corresponded with the emergency stop

switch, after pressing down the

emergency stop switch, user need press

the release switch to recover Apollo to

normal status and continue other

operations, like manually pushing Apollo

moving.

Apollo switch

This switch is the power switch for Apollo.

Short press for power-on and long press

for power-off.

Upper switch

This switch is the control switch for the

power port of upper system or upper

computer. Short press for power-on and

long press for power-off.

System

switch

This switch is the power switch for the

whole system. Short press for power-on

and long press for power-off.

Generally, user can

ignore Apollo switch

or upper switch, and

only design this

switch to replace the

above two.


Introduction

As shown in the following figure, the extended platform of Apollo is a rounded

table with 220mm in radius. The whole top surface is all-steel and is processed

by black phosphating solution. There are five M6 threaded holes regularly

distributed on the table, which can meet various requirements of fixing the upper

module on the Apollo. Please refer to the following figure for the specific position

of threaded holes and the port dimensions.

Figure 3-1 Apollo Extended Platform

Port Definition

Extended Platform


Figure 3-2 Apollo Extended Platform Interface Definition

Pin Definition of Control Port

Figure 3-3 Pin Definition of Apollo Extended Platform Control Port

Name Parameter Description Note

Ethernet

port 100/10Mbps

Used for

communication

between users and

Apollo.

IP Address 192.168.11.1 ~

192.168.11.100 are reserved for the

bases of Apollo. Therefore, when

using this Ethernet port, please

ensure that the IP address of the

device connected to Apollo not uses

the above IP address. Or IP conflict

may occur. Please refer to the

SLAMWARE SDK for detailed

communication protocols.

Power port

DC 18-

25.2V 10A

Max

Used for providing

power supply for the

device of users.

The end marked as 1 is positive

while 2 is negative.

Control

port DB-15

Self-defined 15 pin

port. User can design

this port according to

their own needs.

Please refer to the following figure

for control port definition and pin

definition, and the supported switch

type for the reference design of the

control port.

Emergency

charging

port

25.2V 10A

Used for charging

Apollo under

unexpected situations

such as the charger

electrode not working.


Supported Switch Type and Description of Control Port

Figure 3-4 Supported Switch Type of Apollo Extended Platform Control Port

Switch Name Description Note

Emergency stop

switch

(Pin5 & Pin8)

Used for controling Apollo in

emergencies. Apollo will stop

moving immediately after

pressing this switch.

This switch is a must to

design, or Apollo will refuse

to work.

Release switch

(Pin6 & Pin7)

Corresponded with the

emergency stop switch, after

pressing down the emergency

stop switch, user needs to press

the release switch to recover

Apollo to normal status and

continue other operations

Checking method

Internal pull-up to check the

time width of the low level.

Open time:

50ms~3000ms(Typical value is

300ms, and it is invalid to

repeat this operation if it has

already been in open status.)

Close time:

3000ms~15000ms( Typical

value is 4000ms, and it is

invalid to repeat this

operation if it has already

been in open status.)

Apollo power

switch

(Pin3 & Pin13)

This switch is the power switch

for Apollo. Short press for

power-on and long press for

power-off.

Upper system

power switch

(Pin4 & Pin14)

This switch is the control switch

for the power port of upper

system or upper computer.

Short press for power-on and

long press for power-off.

System switch

(Pin2 & Pin12)

This switch is the power switch

for the whole system. Short

press for power-on and long

press for power-off.

Generally, user can ignore the

Apollo switch and the upper

switch, and only design this

switch to replace the above

two.


Apollo Deployment

1. Place Charger

With the charger, Apollo can recharge itself automaticallty. Therefore, the charger

requires to be put properly to ensure its performance. When Apollo goes back to

the charger, it will have a driving force, so it’s better to put the charger back against

a wall. And the wall should meet the following requirements.

a. The charger should fit the wall closely and there is no obstacles between

them. The wall with skirting line is not recommended.

b. The wall should not be made of transparent material like mirror or glass.

c. The wall should be at least three times the width of the charger.

d. The wall should be a straight wall instead of a curved one.

The charger requires a 220V power supply and its external power supply wire is

1.5m in length. So it’s better that there is a power port on the wall for the

charger(the power board is not recommended since it may cause danger due to

massy wires).

The ground in front of the charger should meet the following requirements:

a. Open. There is no obstacles in front of the charger ( with the charger as the

center and within a radius of 2 meters from the center).

b. Level. There is no slope on the ground.

c. There is no soft carpet on the ground which leads Apollo sinking into it

more that 2cm.

Please always launch Apollo from the charger to ensure that it can recharge itself

properly.

Note: if the charger is moved to a different place when using Apollo, user should

reset the charger position accordingly when loading the map. Please refer to the

detailed interfaces description in our SDK document.

2. Launch Apollo

As shown in the following figure, find the air switch and turn it on, then press the

system switch on the demo module to start the system. Once succeeded, the

system indicator turns red and the buzzer beeps several times. It takes one

minute to start the system.

Deployment and Usage


Figure 4-1 Apollo Air Switch and System Switch

3. Build and Save Map

Download and install the robot graphical tool RoboStudio from our official website

http://www.slamtec.com/cn/RoboStudio. Register and login to the tool. By clicking

File->Robots in the menu, user can find a docked window opened in the left side

of the pane as in Figure 4-2. In this window, user can connect to or disconnect

from robots.

Figure 4-2 RoboStudio Robot Interface

Right click the whitespace of the robot list -> choose manual connect robot in

the prompt dialog box, -> enter the IP address and port number in the new dialog

box -> click Connect to connect to the robot as shown in the following screenshot.

If you have already connected to the SSID obtained in step 3 via network adapter

System Switch

Air switch

http://www.slamtec.com/cn/RoboStudio


on computer, please enter the default IP address 192.168.11.1 in the above dialog

box. (The IP address of your wireless adapter network should be DHCP mode)

Figure 4-3 RoboStudio Robot Connection Dialog Box

Once connected successfully, the major work area will show the robot, map

information and its status. The robot name will turn to green and the robot status

will turn to Connected as below.

Figure 4-4 RoboStudio Robot Connection

Right click a point in the place where you want to build a map, and Apollo will

follow the point to build map. After mapping, add virtual walls to the places where

you want to isolate them from robot. Click File->MapEditor and choose saving

the map file to local or uploading it to the firmware.


Figure 4-5 RoboStudio Robot Map Editing Window

4. Launch Host Computer and Load the Map

The following code shows how to finish loading specified map by using SDK on

the upper computer.

1. /*

2. * upload map file to apollo

3. */

4. #include <iostream>

5. #include <rpos\robot_platforms\slamware_core_platform.h>

6. #include <rpos\robot_platforms\objects\composite_map_reader.h>

7. #include <rpos\core\pose.h>

8.

9. using namespace std;

10.

11. int main()

12. {

13. try

14. {

15. string map_path = ".\\map.stcm"; //the path of map

16. string apollo_ip = "192.168.11.1"; //the ip of apollo

17. int apollo_port = 1445; //the port of apollo ,default is 1445

18.

19. rpos::robot_platforms::SlamwareCorePlatform apollo =

20. rpos::robot_platforms::SlamwareCorePlatform::connect(apollo_ip, apollo_port);

21. //connect to the apollo

22. rpos::robot_platforms::objects::CompositeMapReader cmapreader;

23. //map reader

24. rpos::core::Pose apollo_pose = rpos::core::Pose(rpos::core::Location(0, 0, 0));

25. //the Apollo pose in map(apollo_pose should be the apollo's real pose in new map)

26. //using apollo.getpose() to get the old apollo pose

27. auto map = cmapreader.loadFile(map_path);

28. //load map

29. apollo.setCompositeMap(*map, apollo_pose);

30. //set compositemap

31. rpos::core::Pose home_pose = rpos::core::Pose(rpos::core::Location(0, 0, 0));

32. //the home pose in map(home_pose should be the home's real pose in new map)


33. //using apollo.gethomepose() to get the old home pose

34. apollo.setHomePose(home_pose);

35. //set home pose

36. }

37. catch (rpos::robot_platforms::ConnectionFailException &e)

38. {

39. cout << "connect failed on " << e.what() << endl;

40. }

41. catch (rpos::system::detail::ExceptionBase &e)

42. {

43. cout << "failed on " << e.what() << endl;

44. }

45.

46. return 0;

47. }

Please refer to our SDK reference for more movement deployment.


Connect to Computer

Wired Connection

According to the requirements from actual application development, we have

designed a RJ45 Ethernet port on the extended platform of Apollo. Therefore, user

can directly connect Apollo to PC via network cable for extension or further

development.

Wireless Connection

To help our user test Apollo and meet the requirements in future actual

application scenarios, Apollo also supports wireless connection. User can connect

to the SSID of Apollo with a computer and then connect to Apollo with its default

IP address 192.168.11.1. In addition, user can use our Web Portal tool to distribute

a specific IP address for Apollo and use it for connection.

Debug Tools

RoboStudio

RoboStudio graphical tool is used for testing and controlling Apollo. Please

download it from our official website as below:


In the same page, we also provide a document to introduce the usage of this tool.

Web Portal Tool

During developing, testing and controlling the SLAMTEC robtots like Apollo, our

users can do many things to our robot via the Web Portal tool, such as checking

basic information,upgrading firmware and configuring WiFi. (Default username:

admin. Default password: admin111)

Our Web Portal currently supports the following features:

1. Check the information of the robot;

2. Restart the SLAMWARE module;

3. Upgrade firmware

Slamtec provides Apollo firmware renewal and upgrade regularly. Our users can

upgrade firmware via the Web Portal tool. Please ask for the latest firmware from

our support engineers or sales representatives. The upgrade progress lasts for

5~10 minutes and the buzzer beeps during the upgrade process.



Apollo will restart once the upgrade finished. Before that, please ensure that

Apollo has sufficient electricity.

4. WiFi configuration;

5. Start diagnosing SLAMWARE core;

6. Modify admin password;

For usage details, please refer to the following document:

https://wiki.slamtec.com/display/SD/SQ001+SLAMWARE+Web+Portal+Function

+Overview

Charging and Battery

There are two ways to charge Apollo battery.

Contact Charging

Apollo has a charger supported automatically recharging. When the battery is

lower than 30%(this value can be adjusted by the upper system according to actual

requirements), Apollo will find the charger by itself and start recharging

automatically.

Manual Charging in Emergency

In some unexpected situations, like Apollo cannot recharge itself temporarily, user

can use emergency charging cable to charge Apollo The emergency charging port

of Apollo is shown in the following figure. Please use the emergency charging

cable to connect the emergency charging port on the charger and the charging

port on Apollo

Once the fan inside the charger starts work, the charger starts charging for Apollo.

Note: there is no indicator lighting up for charging in emergency.

https://wiki.slamtec.com/display/SD/SQ001+SLAMWARE+Web+Portal+Function+Overview

https://wiki.slamtec.com/display/SD/SQ001+SLAMWARE+Web+Portal+Function+Overview


Figure 4-6 Manual Charging Connection

Battery Attention

Charging

Do not charge Apollo or its battery with non-official charging devices.

The battery should be charged within the range pf temperature specified in the

products Specification. Stop charging immediately when the surface temperature

of the battery is over 50℃.

Before charging, please ensure the polarities of the battery are connected properly.

Reverse charging is strictly prohibited. Reverse charging cannot charge the battery.

Inversely, it will induce fatal damage to the battery and even lead to battery

heating, swelling, leaking, fire and explosion.

Storage

The battery should be stored in a cool and dry place. If you are intend to keep the

battery for a long time (3 months or longer), it is recommended that the battery

should be stored under the dry environment with temperature during 10-25℃

and without corrosive gas. And the battery should be charged at least one time

every six months to ensure the voltage of the battery is between 3.6V-3.9V.

Attentional Notes

Since the battery is softly packaged with aluminum foil, it is vulnerable to sharp

objects. Please do not place the battery with sharp objects.

Charging port

Apollo emergency charging port


Do not fall, hit or bend the battery or it may lead to fire.

Do not disassemble the battery in any circumstances or it may cause internal

short-circuit that results in swelling and fire.

Do not directly connect the positive and negative anodes of the battery or it may

lead to fatal damage to the battery and even fire.

Do not put the battery into fire or it may cause danger.

Do not put battery into liquid, such as water.

Do not charge the battery in a car.

Avoid violent vibration, shock and pressing during the transportation of the

battery and handle it gently when carrying it. The battery should be packaged and

protected with soft packing material.


Handle Apollo base gently(do not kick, thrust or drag Apollo).

Do not spill any liquid on Apollo.

Do not use the recharging function of Apollo when it is walking on a soft carpet

which can sag more than 2cm.

Ensure that Apollo always starts on its charger.

Do not change or replace anything in the machine without autiorization.

Ensure that the load of Apollo meets the requirement of the specification.

Do not use Apollo on slope.

Do not use Apollo under environment with too many highly transparent

materials.

Attention


Troubleshooting

No. Trouble Description Possible Cause Solution

1

There are noisy points

on the map built by

Apollo (laser points

appear in a place of

the map that has no

obstacles in the

related actual place).

There are dirt on the

surface of the Lidar.

Please use microfiber cloth

to clean the dirt on the Lidar.

There are obstacles

near the radar, such as

wires.

Please remove the obstacles.

Other causes

Please contact SLAMTEC

technical support for further

help.

2 Apollo cannot start

Air switch is turned off. Turn on the air switch on the

extended plarform of Apollo.

The battery becomes

low.

Charge Apollo via emergency

charging cable.

The wire connection of

build-in system switch

or designed switch

goes wrong.

Please check the Control

Port Definition and connect

related wires properly.

3

After launching Apollo,

you cannot control it

moving via computer

application.

The red emergency

switch is pressed

down(You cannot push

Apollo moving in this

condition).

Pull up the red emergency

switch.

The release switch is

pressed down(You can

push Apollo moving in

this condition).

Recover release switch.

Other causes



help.

4

The range of Lidar on

the map is less than

its standard range and

the laser light edge is

in line. The range will

go back to normal if

uplifting the front of

Apollo.

The ground is not level

or flat.

Please use Apollo on a level

and flat ground.

Other causes



help.


Figure 6-1 Apollo Basic Problems and Solutions

5

The Apollo can not go

back to charge itself

normally.

The charger is move to

a different place.

Rebuild the map and do not

move the charger.

The charger position is

not set in the map.

Set the position of the

charger in the map.

The charger is

disconnected to power.

Check whether the charger is

properly connected to power.


Figure 6-2 Apollo Mechanical Dimensions

Mechanical Dimensions


Image and table index

FIGURE 1-1 CONNECTION BETWEEN APOLLO AND EXTERNAL SYSTEM ................................................................. 4

FIGURE 2-1 APOLLO SENSOR CONFIGURATION ..................................................................................................... 5

FIGURE 2-2 APOLLO CHARGER .............................................................................................................................. 6

FIGURE 2-3 APOLLO CHARGER INDICATORS DESCRIPTION ................................................................................... 7

FIGURE 2-4 APOLLO CHARGE STATION INTERFACE DESCRIPTION ......................................................................... 7

FIGURE 2-5 APOLLO DEMO MODULE .................................................................................................................... 8

FIGURE 2-6 APOLLO DEMO MODULE SWITCH DESCRIPTION ................................................................................ 8

FIGURE 3-1 APOLLO EXTENDED PLATFORM ........................................................................................................... 9

FIGURE 3-2 APOLLO EXTENDED PLATFORM INTERFACE DEFINITION ................................................................... 10

FIGURE 3-3 PIN DEFINITION OF APOLLO EXTENDED PLATFORM CONTROL PORT .............................................. 10

FIGURE 3-4 SUPPORTED SWITCH TYPE OF APOLLO EXTENDED PLATFORM CONTROL PORT .............................. 11

FIGURE 4-1 APOLLO AIR SWITCH AND SYSTEM SWITCH ..................................................................................... 13

FIGURE 4-2 ROBOSTUDIO ROBOT INTERFACE ..................................................................................................... 13

FIGURE 4-3 ROBOSTUDIO ROBOT CONNECTION DIALOG BOX........................................................................... 14

FIGURE 4-4 ROBOSTUDIO ROBOT CONNECTION ................................................................................................ 14

FIGURE 4-5 ROBOSTUDIO ROBOT MAP EDITING WINDOW................................................................................ 15

FIGURE 4-6 MANUAL CHARGING CONNECTION ................................................................................................. 19

FIGURE 6-1 APOLLO BASIC PROBLEMS AND SOLUTIONS .................................................................................... 23

FIGURE 6-2 APOLLO MECHANICAL DIMENSIONS ................................................................................................ 24

Appendix

Documents

User manual · Apollo is a white cylinder-shaped robot base and all its edges are soft and smooth, which gives Apollo a nice and friendly outlook and feel. With lower barycenter,